In this article an active fault-tolerant control (FTC) is developed for the tracking problem in a quad-rotor under the effects of a rotor failure and external disturbances. Such a strategy is composed of a finite-time sliding-mode observer, which estimates the full state from the measurable output and identifies uniformly bounded and Lipschitz disturbances. The failure scenario is analyzed in order to identify how it affects the dynamics. It is assumed that the failure has been isolated. The FTC design is composed of PID and continuous high-order sliding-modes controllers that allow the yaw angular velocity to remain bounded and the position tracking to be achieved even in the presence of some external disturbances. The closed-loop stability is formally proven. Numerical simulations show the performance of the proposed control strategy.
|Journal||International Journal of Robust and Nonlinear Control|
|State||Accepted/In press - 2022|
Bibliographical noteFunding Information:
The authors gratefully acknowledge the financial support from TECNM projects, CONACYT project 225291 and SEP–CONACYT–ANUIES–ECOS NORD Project 315597. The authors also acknowledge the financial support from CONACYT CVU 785635 and Cátedras CONACYT CVU 270504 project 922, respectively.
© 2022 John Wiley & Sons Ltd.
- fault-tolerant control
- rotor failure
- sliding-mode control